version: 66.11
glider: 144
mission: 21
dive: 27
start: 10 30 113 8 10 48
data:
$ID,144
$MISSION,21
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57326.309
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2307
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.012749
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,301013,080011,4705.949,-12544.896,22,1.0,29,16.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.1
$GPS2,301013,081020,4705.975,-12544.755,21,0.8,21,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4730.000,-12630.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.217,0.142
$KALMAN_X,700.7,0.0,0.0,-42539.9,224.0
$KALMAN_Y,14082.4,0.0,0.0,-11983.1,370.8
$MHEAD_RNG_PITCHd_Wd,286.5,72003,-17.5,-10.000,-21.09,2221
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.78,-146.6,116,2353,1510,1433,0.0,0.0,0,60,0.00,0.00,-42.15,0.000,16386,0.000,0.000,116,2353,2740,2698,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,116,2353,2700,2782,2.7,-4.8,4,93,14.57,2.35,-11.62,0.000,18948,0.417,0.083,2851,963,3275,3193,3357,0,0,0,0,0,0,13.33,14.53,14.80
$GC,215,-0.44,-146.6,2851,963,3202,3357,30.0,-19.0,19,226,0.47,2.42,0.00,0.000,3078,0.291,0.050,2958,2403,3279,3202,3357,0,0,0,0,0,0,13.97,14.52,28.83
$GC,525,-0.44,-146.6,2958,2403,3206,3357,58.6,-8.6,50,530,0.00,2.42,0.00,0.000,516,0.000,0.061,2959,967,3281,3206,3357,0,0,0,0,0,0,28.83,14.67,28.83
$GC,652,-0.44,-146.6,2959,967,3207,3357,69.2,-8.3,62,661,0.00,2.38,0.00,0.000,1030,0.000,0.049,2959,2406,3282,3207,3357,0,0,0,0,0,0,28.83,14.69,28.83
$GC,972,-0.51,-146.6,2959,2406,3210,3360,97.4,-9.2,85,978,0.00,2.38,0.00,0.000,260,0.000,0.073,2959,3806,3284,3210,3359,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1025,-0.60,-146.6,2959,3807,3211,3360,101.0,-9.1,87,1033,0.15,2.33,0.00,0.000,5126,0.134,0.038,2904,2362,3285,3211,3360,0,0,0,0,0,0,14.76,14.79,28.83
$GC,1332,-0.60,-146.6,2904,2360,3211,3360,132.1,-9.0,103,1338,0.00,2.33,0.00,0.000,516,0.000,0.066,2904,966,3285,3211,3360,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1506,-0.60,-146.6,2904,966,3211,3360,147.6,-9.8,111,1513,0.00,2.38,0.00,0.000,1030,0.000,0.051,2903,2404,3285,3211,3360,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1834,-0.64,-146.6,2903,2405,3211,3360,179.0,-9.2,123,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2405,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2134,-0.71,-146.6,2903,2405,3211,3360,206.0,-9.2,133,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2405,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,-0.79,-146.6,2903,2405,3211,3359,234.5,-9.5,143,2436,0.15,0.00,0.00,0.000,4102,0.157,0.000,2852,2405,3285,3211,3360,0,0,0,0,0,0,14.81,28.83,28.83
$GC,2733,-0.79,-146.6,2851,2405,3211,3360,265.1,-9.7,153,2739,0.00,2.38,0.00,0.000,260,0.000,0.076,2850,3808,3285,3211,3359,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2897,-0.75,-146.6,2850,3808,3211,3360,279.7,-9.7,158,2901,0.00,2.33,0.00,0.000,1030,0.000,0.042,2850,2368,3285,3211,3360,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3241,-0.75,-146.6,2851,2367,3211,3360,311.4,-8.8,168,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2367,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,-0.75,-146.6,2850,2367,3211,3360,340.5,-9.8,173,3545,0.00,2.33,0.00,0.000,516,0.000,0.068,2851,971,3285,3211,3360,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3582,-0.75,-146.6,2851,971,3211,3359,340.5,-9.8,173,3586,0.00,2.35,0.00,0.000,1030,0.000,0.052,2850,2404,3285,3211,3360,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3894,-0.75,-146.6,2850,2404,3211,3360,372.9,-8.8,179,3900,0.00,2.38,0.00,0.000,260,0.000,0.077,2850,3808,3285,3211,3359,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3931,-0.75,-146.6,2850,3808,3211,3359,372.9,-8.8,179,3936,0.00,2.33,0.00,0.000,1030,0.000,0.044,2850,2368,3285,3211,3359,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4251,-0.75,-146.6,2850,2368,3211,3359,404.5,-9.0,185,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2368,3284,3210,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-0.79,-146.6,2850,2368,3211,3357,435.3,-10.4,190,4556,0.00,2.45,0.00,0.000,260,0.000,0.076,2850,3808,3283,3210,3357,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4602,-0.83,-146.6,2850,3808,3211,3356,435.3,-10.4,190,4610,0.00,2.33,0.00,0.000,1030,0.000,0.041,2850,2352,3283,3211,3356,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4909,-0.89,-146.6,2850,2352,3211,3356,472.5,-10.2,196,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2352,3283,3211,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-0.95,-146.6,2850,2352,3210,3356,499.9,-8.9,201,5216,0.12,2.47,0.00,0.000,4356,0.153,0.074,2799,3807,3282,3211,3354,0,0,0,0,0,0,14.86,14.85,28.83
$GC,5257,-1.01,-146.6,2799,3807,3210,3353,499.9,-8.9,201,5262,0.00,2.33,0.00,0.000,1030,0.000,0.042,2799,2358,3282,3211,3353,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5564,-0.95,-146.6,2799,2358,3211,3353,540.1,-11.3,206,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2358,3282,3211,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5865,-0.90,-146.6,2799,2358,3211,3352,570.1,-9.9,211,5871,0.00,2.47,0.00,0.000,260,0.000,0.079,2799,3807,3281,3211,3351,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5942,-0.86,-146.6,2799,3807,3211,3351,576.1,-9.8,212,5947,0.15,2.33,0.00,0.000,3078,0.301,0.046,2831,2360,3281,3211,3351,0,0,0,0,0,0,14.69,14.92,28.83
$GC,6280,-0.91,-146.6,2831,2360,3211,3351,606.9,-8.6,218,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2360,3281,3211,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6580,-0.97,-146.6,2831,2360,3211,3350,631.5,-8.2,223,6582,0.12,0.00,0.00,0.000,4102,0.163,0.000,2789,2360,3280,3211,3350,0,0,0,0,0,0,14.78,28.83,28.83
$GC,6879,-0.97,-146.6,2789,2360,3211,3348,662.0,-10.3,228,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2360,3279,3211,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.97,-146.6,2789,2360,3211,3347,691.5,-9.8,233,7186,0.00,2.50,0.00,0.000,260,0.000,0.080,2788,3806,3278,3211,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7272,-0.97,-146.6,2788,3806,3211,3346,697.4,-9.8,234,7277,0.00,2.35,0.00,0.000,1030,0.000,0.047,2786,2355,3278,3211,3346,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7595,-0.97,-146.6,2787,2356,3211,3346,732.0,-9.7,240,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2355,3278,3211,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.97,-146.6,2788,2356,3210,3345,765.2,-11.2,245,7901,0.00,2.47,0.00,0.000,260,0.000,0.080,2787,3805,3277,3210,3344,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7937,-0.97,-146.6,2787,3805,3211,3344,765.2,-11.2,245,7941,0.00,2.38,0.00,0.000,1030,0.000,0.047,2787,2368,3277,3211,3344,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8254,-0.97,-146.6,2788,2368,3211,3344,808.1,-12.0,251,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2368,3277,3211,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.97,-146.6,2787,2368,3211,3343,842.5,-11.4,256,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2368,3276,3210,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8854,-0.97,-146.6,2787,2368,3211,3342,873.1,-10.1,261,8861,0.00,2.55,0.00,0.000,260,0.000,0.077,2787,3802,3275,3210,3341,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8917,-0.97,-146.6,2787,3802,3211,3341,878.9,-9.8,262,8921,0.00,2.33,0.00,0.000,1030,0.000,0.043,2787,2349,3275,3210,3341,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9270,-0.97,-146.6,2787,2349,3210,3341,911.7,-9.3,268,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2349,3276,3211,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9569,-0.97,-146.6,2787,2349,3210,3341,939.7,-9.3,273,9575,0.00,2.50,0.00,0.000,260,0.000,0.079,2787,3810,3275,3210,3341,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9631,-0.97,-146.6,2787,3809,3208,3341,945.4,-9.3,274,9637,0.00,2.33,0.00,0.000,1030,0.000,0.043,2787,2355,3274,3208,3341,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9989,-0.97,-146.6,2787,2356,3207,3341,976.7,-8.8,280,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2355,3274,3208,3341,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10168,begin apogee
$GC,10172,-0.22,0.0,2787,2274,3207,3341,992.5,-8.8,283,10319,0.88,0.08,140.88,2.323,10246,0.253,0.155,3028,2319,2672,2632,2712,0,0,0,0,0,0,14.68,13.84,12.36
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10322,0.78,146.6,3029,2319,2629,2712,994.0,0.0,285,10469,1.10,2.65,138.23,2.324,10756,0.168,0.078,3356,894,2073,2099,2047,0,0,0,0,0,0,13.82,13.75,12.45
$GC,10521,0.78,146.6,3356,894,2093,2042,975.8,10.0,289,10525,0.00,2.50,0.00,0.000,1030,0.000,0.053,3356,2316,2067,2092,2042,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10877,0.54,146.6,3356,2316,2081,2042,923.9,14.8,295,10884,0.25,2.42,0.00,0.000,4356,0.277,0.072,3292,3723,2061,2080,2042,0,0,0,0,0,0,14.31,14.45,28.83
$GC,10950,0.31,146.6,3292,3723,2079,2042,915.9,14.6,296,10955,0.32,2.42,0.00,0.000,5126,0.271,0.050,3217,2285,2060,2079,2042,0,0,0,0,0,0,14.37,14.52,28.83
$GC,11293,0.47,206.6,3217,2285,2074,2042,888.6,7.2,302,11354,0.15,0.00,58.20,2.209,10246,0.146,0.000,3271,2285,1829,1848,1810,0,0,0,0,0,0,14.62,28.83,12.62
$GC,11652,0.53,206.6,3271,2285,1831,1809,851.5,10.6,308,11658,0.00,2.53,0.00,0.000,260,0.000,0.073,3271,3721,1820,1831,1809,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11685,0.58,206.6,3271,3722,1831,1809,851.5,10.6,308,11690,0.00,2.42,0.00,0.000,1030,0.000,0.051,3271,2287,1820,1831,1809,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12007,0.64,206.6,3272,2287,1828,1809,813.3,10.8,314,12009,0.12,0.00,0.00,0.000,2054,0.160,0.000,3316,2286,1818,1828,1809,0,0,0,0,0,0,14.58,28.83,28.83
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$STATE,18922,end climb,SURFACE_DEPTH_REACHED
$STATE,18922,begin surface coast
$FINISH,0.6,1.023878
$STATE,18943,end surface coast,CONTROL_FINISHED_OK
$STATE,18943,begin surface
$SM_CCo,19019,0.00,0.000,0,0,1513,284.30
$SM_GC,1.06,9.52,0.20,0.00,0.078,0.090,0.000,118,2425,1513,-9.30,-0.62,284.30,0,0,0,0,0,0,14.62,14.64,28.83
$IRIDIUM_FIX,4648.08,-12550.26,301013,080841
$TT8_MAMPS,0.023219,0.023219
$HUMID,65.35
$INTERNAL_PRESSURE,8.5772
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.4,11.550
$10V_AH,13.1,3.356
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.175,129.975,405.975,0.000,0.000,85.261,120.838,180.536,22.500,0.000,22.636,1640.439,15506.420,471.223,1908.429,99.404,0.390,1354.099,0.000,1411.068,0.000,142.386,0.000
$DEVICE_MAMPS,416.925,154.530,2324.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.628,195.578,543.903,436.759,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313792
$DATA_FILE_SIZE,33771,533
$CAP_FILE_SIZE,153007,0
$CFSIZE,260165632,217780224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,132835,4707.669,-12548.415,23,0.9,23,16.7